Distributed Event-Triggered Output Feedback Control for Consensus in Higher-Order Nonlinear Multi-Agent Systems

This paper addresses the consensus problem for nonlinear multi-agent systems with uncertain dynamics and unmea-sured state variables. A novel distributed consensus controller is proposed by combining a dynamic feedback system with an input-driven filter. A vital feature of the proposed controller is that it allows each agent to employ minimal local feedback, i.e., only its own output information and that of its neighbors. Our controller conserves resources by updating control signals only when necessary rather than periodically. Theoretical and simulation analyses of the algorithm demonstrate its ability to achieve consensus and avoid Zeno behavior.